Control method for predetermined performance of robot
A control method and robot technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of singular problems, controller design with a large number of complex functions and partial differential items, etc., to achieve simple design process, Guaranteed high-performance control and practical effects
Pending Publication Date: 2022-05-17
HUAIYIN INSTITUTE OF TECHNOLOGY
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However, the use of this transformation function will lead to a large number of complex functions and partial differential terms in the controller design, and may have singularity problems for some predetermined performance conditions
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[0045] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.
[0046] In this embodiment, the lumped model of a single-link robot with a gear reducer is taken as an example, and its controller is designed. The complete expression of the motion equation of the robot single-link system is:
[0047]
[0048] Among them, M represents the total mass of the connecting rod, J a ,J g ,J l Respectively, the inertia corresponding to the driver, reducer gear and load, Bm is the friction coefficient of the motor, θ m is the motor rotor position, τ m ,τ l are the torque generated by the motor and the load torque, r is the transmission ratio of the gear reducer, l is the distance between the joint axis and the center of mass of the connecting rod, J m =J a +J g ,J=r 2 J m +J l ,B=rB m +B l ,u=rτ m , choose x 1 = θ l , Then the equation of state can be obtained as follows:
[0049]
[0050] Amo...
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The invention discloses a robot predetermined performance control method, which is used for controlling a robot system with partial state constraint, and comprises the following steps of: recursively designing a virtual control variable, an actual control input and a self-adaptive updating law by utilizing a dynamic surface control method; constructing a tunnel error amount which simultaneously meets a state constraint condition and a given steady-state error performance index; a Lyapunov function of the system is constructed; and deriving a Lyapunov function, substituting the designed virtual control variable, actual control input and a self-adaptive updating law into a derivative of the Lyapunov function, judging that all closed-loop system variables are finally consistent and bounded according to a Lyapunov stability theory, proving that part of state constraint conditions are not violated, and obtaining a deterministic expression of tracking errors and convergence time. And control performance indexes are ensured to meet design requirements. According to the invention, tracking control of the system can be ensured to meet preset performance indexes, and practicability and anti-interference performance are high.
Description
technical field [0001] The invention relates to a robot control method, in particular to a control method capable of ensuring that the tracking control performance of a system meets a preset index. Background technique [0002] In the actual robot system, the position of each joint of the robot is limited by its structure and can only move within a certain range. The moving speed of the end effector of the robot cannot exceed a certain range. The speed of the DC motor is limited by its physical characteristics. Power electronics Components have a maximum operating current, etc. Therefore, the constraints should be fully considered in the research and design of the control method of the robot system. The constraints of nonlinear systems are mainly divided into input constraints, output constraints and state constraints according to the constraints. Among them, the solution of state constraints is more complicated and difficult. The widely used control methods in this field ...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘伟刘滢费诗淇钱宗敏赵建航赵环宇杜董生
Owner HUAIYIN INSTITUTE OF TECHNOLOGY